RealMan WHJ60-S-D70-100-B Integrated Harmonic Joint Module
Fully integrated harmonic joint module rated 60 N.m in a 70 mm diameter, 1040 g package. Servo driver, frameless torque motor, brake, dual encoders and in-house harmonic reducer are combined for high torque density and CANFD plug-and-play control.
Full specifications
| Rated Torque | 60 N.m |
| Peak Torque | 180 N.m |
| Rated Speed | 30 rpm (24V) / 60 rpm (48V) |
| Reduction Ratio | 100:1 |
| Weight | 1040 g |
| Outer Diameter | 70 mm |
| Voltage | 24 V / 48 V |
| Encoder Type | 16-bit incremental + 18-bit absolute |
| Communication | CANFD |
| Rated Power | 264 W |
| Brake | Pin-lock brake |
| Repeatability | +/-15 arcsec |
| Operating Temp | 0-50 C |
Supplier
RealMan specialises in ultra-lightweight modular robot arms weighing under 8 kg, powered from 24 V DC and shipped with open Python, C++ and ROS interfaces. RM65, RM75, ECO65 and GEN72 arms give 5 kg payload with optional built-in six-axis force sensing, making them a default choice for mobile manipulators and embodied AI research.
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